99 lines
2.7 KiB
Matlab
99 lines
2.7 KiB
Matlab
%% Script Description
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% Run an identification of each stage from input to output
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% Save all computed transfer functions into one .mat file
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%%
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clear; close all; clc;
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%%
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initializeSample(struct('mass', 20));
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%% Options for preprocessing the identified transfer functions
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f_low = 10; % [Hz]
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f_high = 10000; % [Hz]
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'Micro_Station_Identification';
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%% Y-Translation Stage
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fy'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Translation y'],1,'output');
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% Run the linearization
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G_ty_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_ty = preprocessIdTf(G_ty_raw, f_low, f_high);
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% Input/Output names
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G_ty.InputName = {'Fy'};
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G_ty.OutputName = {'Dy'};
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%% Tilt Stage
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Ry'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Tilt'],1,'output');
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% Run the linearization
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G_ry_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_ry = preprocessIdTf(G_ry_raw, f_low, f_high);
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% Input/Output names
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G_ry.InputName = {'My'};
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G_ry.OutputName = {'Ry'};
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%% Spindle
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Rz'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Spindle'],1,'output');
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% Run the linearization
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G_rz_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_rz = preprocessIdTf(G_rz_raw, f_low, f_high);
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% Input/Output names
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G_rz.InputName = {'Mz'};
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G_rz.OutputName = {'Rz'};
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%% Hexapod Symetrie
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fm'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod'],1,'output');
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% Run the linearization
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G_hexa_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_hexa = preprocessIdTf(G_hexa_raw, f_low, f_high);
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% Input/Output names
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G_hexa.InputName = {'Fhexa_x', 'Fhexa_y', 'Fhexa_z', 'Mhexa_x', 'Mhexa_y', 'Mhexa_z'};
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G_hexa.OutputName = {'Dhexa_x', 'Dhexa_y', 'Dhexa_z', 'Rhexa_x', 'Rhexa_y', 'Rhexa_z'};
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%% NASS
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fn'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
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% Run the linearization
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G_nass_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_nass = preprocessIdTf(G_nass_raw, f_low, f_high);
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% Input/Output names
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G_nass.InputName = {'Fnass_x', 'Fnass_y', 'Fnass_z', 'Mnass_x', 'Mnass_y', 'Mnass_z'};
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G_nass.OutputName = {'Dnass_x', 'Dnass_y', 'Dnass_z', 'Rnass_x', 'Rnass_y', 'Rnass_z'};
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%% Save all transfer function
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save('./mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')
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